#ifndef __CONSTANTS_H__
#define __CONSTANTS_H__
#include <cmath>
#include <vector>

namespace Constants {
extern bool   debug;
extern int    dir_discrete_num;
extern double dist_from_obs2target;

extern double cellSize;    //在2D网格中cell的大小
extern int    iterations;  //最大迭代次数

extern double bloating;  //膨胀范围
extern double car_length_;
extern double veh_W;   // 车的宽度
extern double veh_Lf;  //车的长度
extern double veh_Lr;  //车辆后轮轴离后端的距离

extern double expand_step;  //节点拓展步长
extern double move_delta;   //航向角变化量
extern double r;

extern std::vector< double > dx;
extern std::vector< double > dy;
extern std::vector< double > dt;

extern double penaltyTurning;
extern double penaltyReversing;
extern double penaltySteerChange;
extern double dubinsShotDistance;
extern double dubinsStepSize;
extern double move_step;

extern int    headings;         //车体朝向的离散数量
extern double deltaHeadingRad;  //朝向离散步长(以弧度表示)
extern double deltaHeadingNegRad;
extern double tieBreaker;

extern double minRoadWidth;
}  // namespace Constants

#endif  //__CONSTANTS_H__